[ros-users] Draft REP: Coordinate Frames for Humanoids Robots

Armin Hornung HornungA at informatik.uni-freiburg.de
Mon Jan 23 14:01:54 UTC 2012

On 2012-01-18 15:02, Thomas Moulard wrote:
> On Fri, Jan 13, 2012 at 11:17 AM, Armin Hornung
> <HornungA at informatik.uni-freiburg.de>  wrote:
>> Hi Thomas!
>> I edited in the description of the base_footprint with some minor
>> adjustments to keep it more general, and added a a rationale why this should
>> be as described (I think this makes it easier to understand). I added
>> another sentence to l/r_sole. What I don't fully understand are "It is
>> recommended to choose the origin as the projection of the body center on the
>> contact surface." for sole and toe. Is this the same as the sentence I added
>> afterwards? Then I would suggest to change "body center" into "support body
>> origin" or "support body link origin".
> (I am posting your mail back to the ml so that anyone can take part in
> the discussion)
> Yes this is right, I made the modification.

Sounds good to me in the new form! I found the new formulation in the 
.txt attached to your mail but not in the online document, so I think it 
needs to be updated online as well.

With the new sketch the gripper frames are much clearer! Is there a 
rationale in using x going "up" in this case (collinear) and y "towards" 
the object? With REP-103 I would say that x forward and z up is much 
more intuitive ("in relation to a body" would hereby relate to the 
gripper / end effector). Maybe someone familiar with the existing 
grapsing pipeline(s) can chime in here.

Best regards,

Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universität Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga

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